A system and method for data filtering of passageway sensor data include traversing a plurality of passageways with a flexible elongate device and recording, during the traversing, positional data using one or more sensors coupled to the flexible elongate device. The positional data includes a first plurality of positional data points recorded during a first insertion of the flexible elongate device into a first passageway and a second plurality of positional data points recorded during a first retraction of the flexible elongate device within the first passageway. The system and method further include labeling the first plurality of positional data points and the second plurality of positional data points as first common passageway positional data points and registering the positional data with a model of the plurality of passageways, wherein the registering includes matching the first common passageway positional data points with corresponding first common passageway model data points.
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2. The method of claim 1, wherein the positional data further includes a third plurality of positional data points recorded during a second insertion of the flexible elongate device into a second passageway of the plurality of passageways and a fourth plurality of positional data points recorded during a second retraction of the flexible elongate device within the second passageway.
4. The method of claim 2, wherein the second insertion of the flexible elongate device occurs after the first insertion of the flexible elongate device and after the first retraction of the flexible elongate device.
5. The method of claim 4, wherein the second retraction of the flexible elongate device occurs after the second insertion of the flexible elongate device.
7. The medical system of claim 6, wherein the elongated flexible device comprises a catheter.
8. The medical system of claim 6, wherein the tracking system comprises at least one of a shape sensor, a position sensor, or an imaging system.
9. The medical system of claim 6, wherein the tracking system comprises a fiber optic shape sensor.
10. The medical system of claim 6, wherein the actuator system comprises at least one of an actuator, an encoder, a resolver, or a potentiometer.
11. The medical system of claim 10, wherein the actuator system is located at a proximal portion of the elongated flexible device.
13. The medical system of claim 12, wherein the first set of positional data points is stored in a first cell in a matrix, the second set of positional data points is stored in a second cell in the matrix, and the first and second cells in the matrix are cleared after the third set of positional data points is created.
14. The medical system of claim 12, wherein the one or more hardware processors are further configured to combine at least one positional data point at each insertion distance between a current insertion distance of the elongated flexible device and a deepest insertion distance for the elongated flexible device during a current insertion and retraction cycle to determine at least one aggregate positional data point for each insertion depth.
15. The medical system of claim 12, wherein the insertion distance comprises a quantized insertion distance.
16. The medical system of claim 12, wherein combining the first and the second sets of positional data points comprises averaging the first set and the second set of positional data points.
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February 1, 2018
January 30, 2024
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